Introduction

CircuitPython library to interface with Dynamixel motors.

Dependencies

This is designed for Adafruit Metro ESP32-S3 . A HAT that supports out of the box UART and power with only a single cable is also available here . While not required a circuit is required to handle the TX/RX in half duplex.

This driver depends on:

• Adafruit CircuitPython
• Bus Device
• Asyncio

Please ensure all dependencies are available on the CircuitPython filesystem. This is easily achieved by downloading the Adafruit library and driver bundle or individual libraries can be installed using circup.

Installing to a Connected CircuitPython Device with Circup

Make sure that you have circup installed in your Python environment. Install it with the following command if necessary:

pip3 install circup

With circup installed and your CircuitPython device connected use the following command to install:

circup install dxl

Or the following command to update an existing version:

circup update

Usage Example

import time
from dynamixel.devices import XL430_W250_T
m = XL430_W250_T('roll', 1)
n = XL430_W250_T('pitch', 2)
o = XL430_W250_T('yaw', 3)
while True:
    m.ledOff()
    n.ledOff()
    o.ledOff()
    time.sleep(.5)
    m.ledOn()
    n.ledOn()
    o.ledOn()
    time.sleep(.5)

Documentation

API documentation for this library can be found on Read the Docs.

For information on building library documentation, please check out this guide.

Contributing

Contributions are welcome! Please read our Code of Conduct before contributing to help this project stay welcoming.